System, method, apparatus and computer program product for capturing human-readable text displayed on a unit dose package

ABSTRACT

A system, method, apparatus and computer program product are provided for capturing human-readable text displayed on a unit dose package. In particular, identification information associated with a unit dose package may be used to determine a location and/or a format in which human-readable text, such as an expiration date or lot number associated with the corresponding unit dose medication, is displayed on the unit dose package. Once the location and/or format of the human-readable text has been determined, this information can be used in order to scan the unit dose medication and translate the human-readable text into machine-readable text using, for example, optical character recognition.

FIELD OF THE INVENTION

Exemplary embodiments of the present invention relate generally tostoring and retrieving unit dose medications and, in particular, toelectronically capturing human-readable text displayed on the unit dosemedications.

BACKGROUND OF THE INVENTION

In a typical hospital, nursing home, or other similar institution,doctors will visit their patients on a routine basis and prescribevarious medications for each patient. In turn, each patient will likelybe placed on a certain medication treatment plan that requires that heor she take one or more doses of various medications daily. Somemedications may require that they be administered only at certain timesof the day (e.g., after meals) and/or at intervals of one or more hourseach day. In addition, patients may request certain medications on anelective basis for complaints, such as head or body aches. Theserequests are typically included with the doctor's medication request orprescription that he or she sends to a pharmacy of the hospital forfilling.

Medication requests or prescriptions received by the pharmacy willlikely be checked by a registered pharmacist and then entered into thepharmacy information system. These requests reflect not only orders thatare added to a particular patient's treatment plan, but also changes ina patient's existing treatment plan. The pharmacy information systemcombines this information with the patient's existing medicationschedule and develops a patient medication profile. Using the patientmedication profile, a fill list can be created that lists allmedications that must be distributed to all patients for a given timeperiod (e.g., a day).

In some instances, this list is printed and used by a pharmacist orpharmacy technician to hand pick each of the drugs needed for eachpatient (in the form of unit doses) and place those drugs incorresponding patient-specific medication containers (e.g., boxes, binsor bags). A registered pharmacist then checks the accuracy of thepatient order, and, assuming the order was accurate, the individualpatient boxes are loaded into a large transport cart and delivered to anursing unit.

Several drawbacks exist, however, to this method of medication retrievaland distribution. In particular, it is very time consuming and manpowerintensive. As a result, systems were created for automating the processof retrieving unit dose medications and distributing them to patientsaccording to their respective medication profiles. One example of such asystem is the ROBOT-Rx® system, offered by McKesson Automation Inc. anddescribed in U.S. Pat. Nos. 5,468,110, 5,593,267 and 5,880,443, thecontents of which are hereby incorporated herein by reference.

The ROBOT-Rx® system, like other similar systems, is a stationaryrobotic system that automates the drug storing, dispensing, returning,restocking and crediting process by using barcode technology. Inparticular, single doses of medications are packaged, for example in aclear plastic bag, so that each package contains a barcode correspondingto the package contents. The barcode may include the name of themedication, quantity, weight, instructions for use and/or expirationdate.

The packaged medications are then stored in a storage area, such as astorage rack having a frame and a plurality of rod supports on whicheach package can be hung in a manner that provides each with an X, Ycoordinate. Using the X, Y coordinates, packages can then be selected byan automated picking means (e.g., a robotic arm capable of moving atleast in three, mutually orthogonal directions designated X, Y and Z),for distribution to individual patients.

More specifically, in one instance, a pharmacist or technician maymanually enter the identification of a specific medication he or shewould like the automated system to retrieve, for example, as a patient'sfirst dose, in an emergency situation. The automated system, and, inparticular, a computer associated with the automated system, would thenlocate the desired medication (i.e., the X, Y and Z coordinates of themedication) and instruct the picking means to retrieve the medication atthat location. In another instance, the fill list created based on eachpatient's medication profile may be communicated to the computerassociated with the automated system, providing the automated systemwith a current list of all patients and their individual medicationneeds. The computer also maintains a database of all medications storedin the storage area along with their corresponding X, Y and Zcoordinates.

Patient-specific containers (e.g., drawers or bins) displaying barcodesthat include the corresponding patient's unique identification code areplaced on a conveyer belt associated with the automated system. At onepoint on the belt, a barcode reader reads the barcode displayed on thebox and communicates the patient's identification to the computer. Thecomputer will then retrieve the patient's medication needs from the filllist, and determine the corresponding coordinates for each medication byaccessing the database.

The computer can then guide the picking means to select the desired unitdose medications and deposit them in the patient-specific boxes orcontainers. In particular, the picking means, which also includes abarcode reader, moves to the designated location of a particularmedication, as instructed by the computer, scans the barcode displayedon the package containing the medication to determine the identificationof the medication contained in the package, and provides the identity tothe computer.

After the computer confirms that the correct unit dose medication iscontained in the package, the picking means will remove the package fromthe storage area (e.g., using a vacuum generator to produce suction topull the package off the rod, or other holding means, and hold thepackage until it can be deposited) and drop it into the patient-specificcontainer.

The process is repeated until the patient's prescription has been filled(i.e., until the patient-specific medication container contains eachdose of medication to be taken by the patient in the given time periodor, in the instance where the unit dose retrieved the first dose for anew patient, until that first dose has been retrieved). The conveyorbelt then moves the patient-specific container to a check station wherean operator can use yet another barcode reader to scan the barcode labelon the patient-specific container to retrieve and display the patient'sprescription, as well as to scan the barcodes on each package in thecontainer to verify that the medications are correct.

As described above, unit dose medications dispensed robotically aregenerally packaged into bags, boxes or a variety of other over-wrapsprior to being stored in the storage area. This repackaging effort isperformed for several reasons. First, the size and shape of the rawpackages vary greatly; therefore, without some commonality in productshape, robotic handling becomes extremely difficult. Second, whilerobotic systems typically rely on barcodes to identify the productsthroughout the process, the majority of products originating fromvarious manufacturers do not contain barcodes of any kind. It,therefore, becomes necessary in these instances to over-wrap the unitdose with a package containing a barcode for identification purposes.

While repackaging medications may solve these problems related tohandling doses in an automated fashion, this process introduces manyother issues for the hospital or similar institution. For example,repackaging adds material costs to the final product and requires bothadditional technician time to perform the packaging as well asadditional pharmacist time to validate the content of the packageagainst the description on the label. In addition, repacking by ahospital, or similar institution, shortens the expiration date of therepackaged item based on United States Pharmacopeia/National Formulary(USP/NF) repackaging standards.

In addition, at least one of the reasons for repackaging will soon nolonger exist. The Federal Drug Administration (FDA) has mandated thatall human drug products have a barcode on the smallest container orpackage distributed which, in many instances, is the unit dosemedication. This includes all human prescription drug products andover-the-counter drugs that are dispensed pursuant to an order in thehospital. This rule applies to manufacturers, repackagers, relabelersand private distributors. The barcode must contain, at a minimum, aNational Drug Code (NDC) in a linear barcode, in the Uniform CodeCouncil (UCC) or Health Industry Business Communications Council (HIBCC)format. Following the effective date of this mandate, assuming that theunit dose medications are the smallest container or package used,therefore, all unit dose medications will contain barcodes that can beused by robotic dispensing systems, thus eliminating the need tooverwrap or repackage merely for identification purposes.

A need, therefore, exists for a means for handling unit dose medicationsin their natural state in an automated dispensing system; thuseliminating the need for repackaging or over-wrapping the unit dosemedication. In particular, a need exists for a means of handling theunit dose medications in a manner that takes advantage of the barcodes,or similar identification codes, contained on the medication, yetovercomes the obstacle of handling raw packages of various sizes andshapes.

In addition to the foregoing, a further need exists for a technique forelectronically capturing human-readable text, such as expiration datesand/or lot numbers, displayed on the unit dose medications in aconsistent and reliable manner. In particular, the automated dispensingsystem may store many different types of medications produced by manydifferent manufacturers and packaged my many different packagers. As aresult, the location, orientation and/or format of various types ofhuman-readable text, including expirations dates and/or lot numbers, mayvary considerably from one unit dose medication to the next, making itdifficult to electronically capture this information. A need, therefore,exists for a technique for overcoming this additional obstacle.

BRIEF SUMMARY OF THE INVENTION

In general, exemplary embodiments of the present invention provide animprovement over the known prior art by, among other things, providing atechnique for electronically capturing human-readable text displayed ona unit dose package, wherein the location and/or format of thehuman-readable text is initially unknown.

In particular, according to one aspect of the present invention, amethod is provided for capturing human-readable text displayed on a unitdose package. In one exemplary embodiment, the method may include: (1)capturing identification information associated with a unit dosepackage; (2) determining, based at least in part on the identificationinformation, a location at which human-readable text is displayed on theunit dose package; and (3) electronically capturing the human-readabletext at the determined location.

In one exemplary embodiment, capturing identification information (e.g.,a medication type or a manufacturer associated with the unit dosepackage) involves reading an identification code displayed on the unitdose package. Because the location and orientation of the identificationcode may not be known, in order to read the identification code, themethod may further involve locating an edge of the unit dose package. Inone exemplary embodiment, the method may further include capturing animage of the unit dose package and then decoding one or more pixels ofthe captured image on a row-by-row basis in a predetermined directionrelative to the edge (e.g., substantially parallel or substantiallyperpendicular to the edge). The pixels may continue to be decoded on arow-by-row basis in this direction until the identification code islocated or substantially all of the pixels have been decoded. Wheresubstantially all of the pixels have been decoded and the identificationcode has not been located, one or more pixels may then be decoded on arow-by-row basis in a direction substantially perpendicular to thepredefined direction until the identification code is located.

Similarly, in an alternative exemplary embodiment, once the edge of theunit dose package has been located, the identification information maybe read by then scanning one or more optical signals across the unitdose package in a predefined direction relative to the edge (e.g.,substantially parallel or substantially perpendicular to the edge). Theoptical signals may continue to be scanned across the unit dose packagein this direction until the identification code is located orsubstantially the entire surface of the unit dose package has beenscanned. Where substantially the entire surface of the unit dose packagehas been scanned in this direction and the identification code has notbeen located, one or more optical signals may then be scanned across theunit dose package in a direction substantially perpendicular to thepredefined direction relative to the edge until the identification codeis located.

According to another exemplary embodiment, in order to determine, basedat least in part on the identification information, a location at whichthe human-readable text (e.g., an expiration date) is located, themethod may involve accessing a mapping of the identification informationassociated with one or more unit dose packages to information describingthe location at which the human-readable text is displayed on thecorresponding unit dose package. In one exemplary embodiment, theinformation describing the location may include information thatdescribes the location relative to at least one edge of the unit dosepackage. Alternatively, the information may describe the locationrelative to an identification code displayed on the unit dose package.

The method of the above exemplary embodiment may further includedetermining, based at least in part on the identification information, aformat in which the human-readable text is displayed on the unit dosepackage. In this exemplary embodiment, the mapping may also associatethe identification information associated with one or more unit dosepackages with information describing the format in which thehuman-readable text is displayed on the corresponding unit dose package.

According to another aspect of the present invention, a system isprovided for capturing human-readable text displayed on a unit dosepackage. In one exemplary embodiment, the system may include: (1) animage capture device configured to capture an image of a unit dosepackage; (2) a processor in communication with the image capture device;and (3) a memory in communication with the processor and storing anapplication executable by the processor. In one exemplary embodiment,the application is configured, upon execution, to determine, based atleast in part on identification information associated with the unitdose package, a location at which the human-readable text is displayedon the unit dose package, and to decode the human-readable text at thedetermined location.

According to yet another aspect of the present invention, an apparatusis provided for capturing human-readable text displayed on a unit dosepackage. In one exemplary embodiment, the apparatus may include: (1)means for capturing identification information associated with a unitdose package; (2) means for determining, based at least in part on theidentification information, a location at which human-readable text isdisplayed on the unit dose package; and (3) means for electronicallycapturing the human-readable text at the determined location.

According to another aspect of the present invention, a computer programproduct for capturing human-readable text displayed on a unit dosepackage is provided. In one exemplary embodiment, the computer programproduct includes at least one computer-readable storage medium havingcomputer-readable program code portions stored therein. Thecomputer-readable program code portions may include: (1) a firstexecutable portion for directing the capture of identificationinformation associated with a unit dose package; (2) a second executableportion for determining, based at least in part on the identificationinformation, a location at which human-readable text is displayed on theunit dose package; and (3) a third executable portion for directing theelectronic capture of the human-readable text at the determinedlocation.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING(S)

Having thus described the invention in general terms, reference will nowbe made to the accompanying drawings, which are not necessarily drawn toscale, and wherein:

FIG. 1 illustrates several unit dose blisters;

FIGS. 2 and 3 illustrate a storage, retrieval and delivery system inaccordance with exemplary embodiments of the present invention;

FIG. 4 illustrates a storage system in accordance with exemplaryembodiments of the present invention;

FIGS. 5A & 5B illustrate a picking system in accordance with exemplaryembodiments of the present invention;

FIG. 6A illustrates a unit dose blister mount removal mechanism inaccordance with exemplary embodiments of the present invention;

FIG. 6B illustrates removal of a unit dose blister mount in accordancewith exemplary embodiments of the present invention;

FIG. 7A illustrates the Z-Axis component of a picking system inaccordance with exemplary embodiments of the present invention;

FIG. 7B illustrates a vacuum pump having an offset cavity for filteringair particles in accordance with exemplary embodiments of the presentinvention;

FIGS. 8A and 8B illustrate a tray delivery/removal mechanism inaccordance with exemplary embodiments of the present invention;

FIG. 9 is a block diagram of a controller, or similar electronic device,capable of performing various functions as part of a storage, retrievaland delivery system in accordance with exemplary embodiments of thepresent invention;

FIGS. 10-12 illustrate a unit dose blister mount according to exemplaryembodiments of the present invention;

FIG. 13 illustrates the partial removal of a unit dose blister mountfrom a storage system in accordance with exemplary embodiments of thepresent invention;

FIG. 14 illustrates a method of storing unit dose blister mountsaccording to one exemplary embodiment of the present invention; and

FIG. 15 is a flow chart illustrating the steps which may be taken inorder to store, retrieve and delivery unit dose blisters in accordancewith an exemplary embodiment of the present invention.

DETAILED DESCRIPTION OF THE INVENTION

The present invention now will be described more fully hereinafter withreference to the accompanying drawings, in which some, but not allembodiments of the inventions are shown. Indeed, these inventions may beembodied in many different forms and should not be construed as limitedto the embodiments set forth herein; rather, these embodiments areprovided so that this disclosure will satisfy applicable legalrequirements. Like numbers refer to like elements throughout.

Overview:

In general, exemplary embodiments of the present invention provide ameans for storing unit dose packages in their natural, raw state in arepeatable, predetermined orientation, so that they can be selectivelyretrieved and delivered, for example by one of the automatic retrievalsystems discussed above (e.g., the ROBOT-Rx® system). In particular, bymaintaining the unit dose packages in a repeatable orientation, theidentification codes associated with respective packages are capable ofbeing read prior to dispelling the packages from the system. Exemplaryembodiments, therefore, eliminate the need to over-wrap or repackage theunit dose packages (e.g., unit dose blisters) prior to use in theautomated systems.

The term “unit dose blister” refers to a unit dose medication, or one ormore oral solids of the same or different strength, form or type, thathas been sealed in a package, such as a vinyl and foil package in whichthe vinyl conforms to the shape of the medication. The vinyl istypically sealed to a foil that offers a flat surface with medicationinformation printed on the opposite side from the vinyl cavity. FIG. 1illustrates several examples of unit dose blisters. As shown, the unitdose blister may include a support panel having opposed first 10 andsecond 20 sides, wherein the unit dose medication 30 (i.e., the one ormore oral solids) is positioned proximate the first side 10 of thesupport panel, and an identification code 40 (.e.g, a barcode, radiofrequency identification (RFID) tag, or simple text including any numberand combination of alphanumeric characters) including informationidentifying the unit dose medication 30 is displayed on the second side20 of the support panel.

When unit dose medications are packaged into a blister, they aretypically packaged with several medications per blister card; thus,there are a corresponding number of equally-spaced vinyl formed cavitiesper blister card. These cavities are typically separated by aperforation. A singulated blister is one that has been separated from ablister card typically along its perforation.

As one of ordinary skill in the art will recognize, while reference ismade throughout to unit dose blisters of the form described above, theseunit dose blisters provide just one form in which unit dose medicationsmay be packaged. Use of unit dose blisters in the description ofexemplary embodiments included herein should not, therefore, be taken aslimiting the scope of the present invention to use with such unit dosepackages. In contrast, other unit dose packages may similarly be used inconnection with exemplary embodiments without departing from the spiritand scope of the present invention.

System:

Reference is now made to FIGS. 2 and 3, which illustrate one example ofa storage, retrieval and dispensing system 100, in which exemplaryembodiments of the present invention may be implemented. As one ofordinary skill in the art will recognize, the system 100 illustrated anddescribed herein is just one manner in which the unit dose packages, orpackages containing unit dose medications (e.g., unit dose blisters) maybe handled in their natural or raw state (i.e. not over-wrapped orrepackaged) in accordance with exemplary embodiments of the presentinvention. The system 100 of FIGS. 2 and 3 is provided for exemplarypurposes only and should not be taken as limiting the scope of theinvention in any way, since other systems may likewise be implementedwithout departing from the spirit and scope of the present invention.

The system 100 of exemplary embodiments may include a means for storinga plurality of unit dose blisters of various shapes and sizes, referredto herein as a “storage system” 102. As shown, the storage system 102 ofone exemplary embodiment, which is also illustrated in FIG. 4, may be inthe form of one or more carousels capable of rotating around a rod orpole 110 extending upward through the center of the carousel 102. Whilenot shown, the storage system may, alternatively, comprise a lineartrack that is stationary and essentially resembles a plurality of pigeonholes or mail slots each including a unit dose package mount (e.g., aunit dose blister mount), which is described in detail below. Returningto FIGS. 2 and 3, the rod or pole 110 may be configured to support aplurality of circular panels 120 positioned at some distance from oneanother, wherein each panel is, in turn, configured to support aplurality of unit dose package mounts 140 (e.g., unit dose blistermounts) (not shown in FIG. 2 or 4), via a plurality of package mountreceptacles 150 (e.g., blister mount receptacles—shown in FIG. 4).

In this regard, the blister mount receptacles 150 of one embodimentshown in FIG. 4 extend between adjacent panels 120 so as to define aplurality of wedge-shaped cavities. While the panels 120 could be spacedand the unit dose blister mounts 140 sized such that each wedge-shapedcavity defined by the blister mount receptacles 150 received a singleunit dose blister mount 140, the storage system 102 of the illustratedembodiment is capable of storing a plurality of unit dose blister mounts140 within each wedge-shaped cavity. In this regard, the blister mountreceptacles 150 can include tracks for engaging corresponding grooves orother features defined by the unit dose blister mounts 140 such thatmultiple unit dose blister mounts 140 can be inserted into a singlestorage location, e.g., a single wedge-shaped cavity, in an organizedmanner.

The unit dose blister mounts 140 of exemplary embodiments are eachconfigured to position the plurality of unit dose blisters of variousshapes and sizes in a predetermined, repeatable orientation within thestorage system 102. In particular, the unit dose blister mounts 140 areconfigured to maintain respective unit dose blisters (or similar unitdose packages) in a predetermined plane relative to the unit doseblister mount 140. Exemplary embodiments of the unit dose blister mount140 are illustrated in FIGS. 10-12, and will be discussed in furtherdetail below. An exemplary storage system 102 may comprise two carouselseach capable of holding 6,000 unit dose blisters, or similar unit dosepackages, thus providing a means for storing up to 12,000 unit dosemedications. To increase storage, in an alternative embodiment, notshown, the round carousel may be replaced with an oval-shaped carousel.In this exemplary embodiment, while the radius of the oval carousel maybe the same as the circular carousel illustrated in FIGS. 2-4, the ovalor race track shaped carousel would provide additional storage forblisters along the flat sections, thus enabling the storage per carouselto increase substantially.

As one of ordinary skill in the art will recognize, other means forstoring a plurality of unit dose packages (e.g., unit dose blisters) intheir natural, raw state may likewise be used without departing from thespirit or scope of the present invention. For example, the storagesystem 102 may resemble a vending machine, wherein the unit dose packagemounts 140 comprise springs having a plurality of coils, each coil beingcapable of holding a unit dose package, such that when the spring isturned, the unit dose package at one end of the spring will be released.In one exemplary embodiment, the storage system 102 may include severalrows and columns of such springs, or unit dose package mounts.

The system may further include a means for selectively retrieving a unitdose blister (or similar unit dose package) from the storage system anddelivering the unit dose blister to a specified location, referred toherein as a “picking system” 201 (not shown in FIG. 2). The pickingsystem 201 of one exemplary embodiment, which is illustrated in FIGS. 5Aand 5B, may include X-Axis 220, Y-Axis 230 and Z-Axis 240 componentsconfigured to enable the picking system 201 to move in three, mutuallyorthogonal directions, designated X, Y and Z, in order to retrieve aunit dose blister, typically while disposed within a unit dose blistermount 140, from the storage system 102.

The Y-Axis component 230 may comprise one or more timing belts driven bya closed-loop motor and configured to move the X and Z-Axis components220, 240 in the Y-direction (e.g., up and down). The X-Axis component220 may, likewise, be driven by a closed-loop motor (e.g., a servomotor) to move linearly in the X-direction (e.g., left and right). Inembodiments in which the unit dose blister is disposed within a unitdose blister mount while stored within the storage system 102, theX-Axis component 220 may include one or more cantilevered unit dosepackage (e.g., blister) mount removal mechanisms 224L, 224R (referred toherein as “mount removal mechanisms”), illustrated in FIG. 6A, which areconfigured to remove a unit dose blister mount 140 from the storagesystem 102 and present it to a blister removal mechanism 242, which isdiscussed in further detail below. Where, for example, the storagesystem 102 of the retrieval and delivery system 100 comprises twocarousels, the X-Axis component may include both a left 224L and a righthand 224R mount removal mechanism.

As shown in FIG. 6A, the mount removal mechanism 224L, 224R may comprisea gripper 226 capable of gripping the handle 142 of a unit dose blistermount 140. In one exemplary embodiment, the gripper is configured togrip the handle while off center, in other words, despite the fact thatthe gripper and handle are not completely aligned. The mount removalmechanism 224L, 224R may further include an extension and a retractionmechanism 223 configured to extend the mount removal mechanism 224L,224R back and forth from the location of the unit dose blister mount 140to the location where the unit dose blister mount 140 is presented tothe blister removal mechanism 242. In other words, the mount removalmechanism 224L, 224R may be configured to move from a first position toa second position proximate the unit dose blister mount 140, to grip thehandle 142 of the unit dose blister mount 140, and to then retract awayfrom the second position, in order to present the unit dose blistermount 140 to the blister removal mechanism 242.

FIG. 6B provides an illustration of this mount removal process inaccordance with exemplary embodiments of the present invention. Asshown, at the first stage, the mount removal mechanism 244L,R extends toa position proximate the storage system 102, such that the fingers 226 fof the gripper 226 of the mount removal mechanism 244L,R aresubstantially flush with the unit dose blister mount 140, and the handle142 of the unit dose blister mount 140 lies somewhere between thosefingers 226 f. As noted above, and as shown in Stage 1 of FIG. 6B, it isnot necessary that the gripper 226 (or the mount removal mechanism244L,R) align perfectly with the handle 142 of the unit dose blistermount 140 (or with the unit dose blister mount itself). In other wordsit is not necessary that the handle 142 lie directly in the center ofthe gripper fingers 226 f. In particular, in one exemplary embodiment,the gripper 226 lies on a bearing (not visible in FIG. 6B) that enablesthe gripper to slide, or shift, in a direction substantiallyperpendicular to the centerline 246 of the mount removal mechanism 244L,R. As a result, as the gripper fingers 226 f close on the handle 142(Stage 2), the gripper 226 shifts in either direction perpendicular tothe general motion of the mount removal mechanism 244L, R in order tocomply with the centerline of the unit dose blister mount 140. As thegripper 226 then pulls the unit dose blister mount 140 from the storagesystem 102 (Stage 3), the gripper 226 is again free to float in eitherdirection substantially perpendicular to the centerline 246 of the mountremoval mechanism 244L, R until the gripper 226 reaches the gripperwrist 226 w (or alignment bars), which brings the gripper 226 back to aknown, repeatable position that is, for example, in alignment with thecenterline 246 of the mount removal mechanism 244L, R. In other words,the gripper wrist 226 w interacts with the gripper 226 in order torealign the gripper 226, and consequently the unit dose blister mount140, in order to facilitate accurate identification capture andsubsequent blister removal. In order for the unit dose blister mount 140to more easily shift as the gripper 226 is pulling it 140 from thestorage system 102, in one exemplary embodiment, the unit dose blistermount 140 is shaped as a wedge (as shown in FIGS. 10A and 10B), whereinthe tail, or the end opposite the handle 142, is narrower than the endcomprising the handle 142; thus enabling it to shift while still withinor in contact with the storage system 102.

After the unit dose blister has been analyzed and, possibly, removedfrom the unit dose blister mount 140, for example in the mannerdiscussed below, the mount removal mechanism 244L, R will replace theunit dose blister mount 140 in the storage system 102. In particular,the gripper 226 disengages from the wrist 226 w and is once again freeto float back and forth in either direction substantially perpendicularto the centerline 246. As the mount removal mechanism 244L, R pushes theunit dose blister mount 140 back into the storage system 102, the unitdose blister mount 140 will guide itself into its nested position, andthe gripper 226 will follow. Once the unit dose blister mount 140 is inplace within the storage system 102, the gripper fingers 226 f willopen, or release the unit dose blister mount handle 142. As the fingers226 f are opening, the gripper 226 will again realign itself with thecenterline 246 using another set of finger alignment bars 226 b, whichcan be seen in FIG. 6A. In particular, the fingers 226 f will open onlyuntil they come into contact with the finger alignment bars 226 b, whichwill re-center the gripper 226 along the mount removal mechanism 244L, Rcenterline 246.

The X-Axis component 220 may further comprise one or more traydelivery/removal systems 228, shown in FIGS. 2, 8A and 8B, which may beused by the storage, retrieval and dispensing system 100 to restock thestorage system 102 with unit dose blisters (or similar unit dosepackages). As illustrated in FIGS. 8A and B, in one exemplaryembodiment, the tray delivery/removal system 228 may comprise a drawer222 that is capable of being opened (i.e., pulled away from the storage,retrieval and dispending system 100 as shown in FIG. 8B) or closed (asshown in FIG. 8A) for the purpose of loading and unloading restock trays229, and is divided into two sections 222F and 222E, wherein eachsection is configured to hold approximately 25 restock trays 229, eachof which further configured to hold approximately 20 singulated unitdose blisters. The first section 222F may be used to hold restock trays229 that are full of unit dose blisters and have been placed in the traydelivery/removal system 228, for example, by a technician for thepurpose of restocking the storage system 102. In contrast, the secondsection 222E may hold empty restock trays 229, or trays from which thepicking system 201 has already removed the unit dose blisters and placedthem in the storage system 102.

To illustrate, in one exemplary embodiment, blisters received from anin-house or third party packager may be singulated (i.e., separated intounit doses) and then manually loaded into the restock trays 229. Inaddition, unit dose blisters that have been returned, for whateverreason, from a patient (or cabinet) may also be loaded into the restocktrays 229. A pharmacy technician may then open the drawer 222, load thetray 229 (or stack of trays) into the first section 222F of the drawer222, and then close the drawer 222 to enable the restocking process tobegin. Once the first section 222F of the drawer 222 has been filledwith restock trays 229 carrying unit dose blisters (or at any point whenit is desired to restock the storage, retrieval and dispensing system100), a tray removal system 227, essentially comprising a liftingmechanism 227 a, a reversing conveyor 227 b, a plurality of tray holdinglatches 227 c and a corresponding plurality of tray holding latchactuators 227 d will singulate the bottom tray 229 in the stack of traysin the full section 222F of the drawer 222, and transfer the singulatedtray 229 to the picking system 201. In particular, in one exemplaryembodiment, the lifting mechanism 227 a will extend upward lifting thestack of trays 229 in the full section 222F of the drawer 222 off of thetray holding latches 227 c, which are configured to hold the stack oftrays 229. The tray holding latch actuators 227 d can then be extendedoutward in order to retract the tray holding latches 227 c, in otherwords, to remove the tray holding latches 227 c from the bottom of thestack of trays 229. The lifting mechanism 227 a can then retract or dropthe height of one tray 229, and the tray holding latch actuators 227 dcan then be extended back inward in order to allow the tray holdinglatches 227 c to extend under the stack of trays one tray 229 up fromthe bottom tray 229. Finally, the lifting mechanism 227 a can lower therest of the way, such that the tray holding latches 227 c now supportthe remaining trays (i.e., the original stack of trays minus the bottomtray), and the singulated bottom tray now rests on the reversingconveyer 227 b.

Once the singulated tray has been transferred to the picking system viathe reversing conveyer 227 b, the picking system 201 can then depositeach unit dose blister into a unit dose blister mount 140 at a specifiedlocation within the storage system 102. Once all of the unit doseblisters have been removed from the restock tray 229 the tray removalsystem 227 will transfer the empty tray 229 to the second section 222Eof the drawer 222 (in a manner substantially opposite that discussedabove with respect to singulation of the bottom full tray), from whichit can be removed by a technician upon opening the drawer 222. In oneexemplary embodiment, the system 100 may further include a means forsingulating the various unit dose blisters prior to or after placingthem in the tray delivery/removal system 228, thus eliminating the needfor the pharmacy technician to manually singulate the blisters.

Returning to FIG. 4A, the Z-Axis component 240 of the picking system201, which is shown in more detail in FIG. 7A, may comprise one or moreunit dose package (e.g., blister) removal mechanisms 242 configured toremove one or more unit dose blisters from a unit dose blister mount 140when the unit dose blister mount 140 has been presented to the blisterremoval mechanism 242. The blister removal mechanism 242 may likewise beconfigured to remove unit dose blisters from the restock trays 229during the restocking process described above in conjunction with thetray delivery/removal system 228. In one exemplary embodiment, theblister removal mechanism 242 comprises one or more vacuum generators243 capable of generating a sufficient suction to remove the unit doseblister from the mount 140 or tray 229, for example using one or morevacuum cups 245, and to hold the unit dose blister until it can bedeposited in a specified location, such as a container that isassociated with the overall system 260 (shown in FIG. 5B) and from whichthe unit dose blister may, for example, be dispelled from the back ofthe system into a patient-specific medication container, or a floorstock container (discussed below) or out a chute in the front of thesystem, for example, for the purpose of filling a patient first dose(i.e., not as part of a routine fill process).

In one exemplary embodiment, the vacuum generators are capable ofgenerating a local vacuum through the use of one or more diaphragmelectric pumps capable of being turned on and off. In particular, ratherthan requiring the use of compressed air, which can be costly,inefficient and fairly disruptive in terms of the noise and requiredpiping associated with the use of an air compressor, the system ofexemplary embodiments of the present invention uses one or more electricvacuum generators (e.g., of the form described and available athttp://www.knf.com/oemair.htm) to produce a local vacuum, thuseliminating the need for compressed air and enabling the storage,retrieval and delivery system to essentially be moved into a facilityand plugged into an electric power outlet in the wall.

In addition, in another exemplary embodiment, each pump includes anoffset cavity 247 used to filter the air coming through the vacuum pump,as illustrated in FIG. 7B. In particular, when air and particles 248(e.g., dust or other particles lifted from the unit dose blister)flowing through the vacuum at a high velocity reach the cavity 247, thevelocity of the particles 248 slows down and the particles 248 begin togather in the cavity 247. Because the cavity 247 is slightly offset fromthe air flow 249, these particles 248 are removed from and no longerobstruct the desired air flow.

As one of ordinary skill in the art will recognize, while the foregoingprovides one means for selectively retrieving and delivering unit doseblisters, other means may similarly be used without departing from thespirit and scope of the present invention.

Moreover, the retrieval and dispensing system 100 may further includeone or more readers 244, including, for example, barcode or radiofrequency identification (RFID) tag readers, image capture devices(e.g., cameras), or the like, capable of reading the identification code40 displayed on the unit dose blister located in the unit dose blistermount 140 and communicating the information obtained (e.g., the identityof the unit dose medication, or one or more oral solids, held by theunit dose blister) to a controller associated with the storage,retrieval and delivery system 100, for the purpose of verifying that thecorrect medication has been selected. As shown in FIG. 7A, the one ormore readers 244 can be carried by the Z-Axis component 240.

In one exemplary embodiment, a special scanning technique may beemployed in order to ensure that the identification code is accuratelyread, despite the fact that, other than the plane in which theidentification code lies, the specific orientation of the identificationcode is not known. As used herein, the term “scanning” refers generallyto analyzing or evaluating the unit dose blister in order to captureidentification, or other relevant, information from the unit doseblister. This may include, therefore, use of any of the exemplaryreaders described above including, for example, a barcode or RFID tagreader, or a camera configured to capture an image of the unit doseblister and then analyze the image in order to extract the desiredinformation. Reference to scanning the unit dose blister may, therefore,include scanning one or more optical signals across the unit doseblister or, alternatively, where an image of the unit dose blister hasbeen captured using a camera, decoding or interrogating the pixels ofthat image.

While exemplary embodiments of the present invention provide anapparatus that is configured to hold the unit dose packages so that theylie in a predetermined plane (e.g., substantially parallel to thesurface of the apparatus), the apparatus does not dictate how the unitdose package is otherwise oriented within that plane. In some instances,for example where the identification code is not omnidirectional (i.e.,capable of being read from any direction), however, in order to read theidentification code, its orientation must be determined. One way todetermine the orientation has been to repeatedly scan the unit doseblister (or similar object) from left to right, top to bottom, and thendiagonally at various angles, for example, at five degree increments.However, this process can be very time consuming and is still notguaranteed to locate or accurately scan the identification code where,for example, the identification code does not happen to be at one of theangles scanned.

Exemplary embodiments of the present invention provide an improvedmanner of determining the orientation of the identification code thatrelies on the fact that, where the unit dose package comprises a unitdose blister having a rectangular support panel, as discussed above, theidentification code is parallel to two sides of the support panel (SeeFIG. 1). According to exemplary embodiments of the present invention,the reader 244 first locates the edges of the unit dose blister, forexample, based at least in part on the contrast of color or darknessbetween the unit dose blister and the unit dose blister mount (which canbe seen in FIG. 12, discussed below). In another exemplary embodiment,the unit dose blister may be flush with the side of the unit doseblister mount such that the edge of the unit dose blister may be locatedusing the edge of the unit dose blister mount. In one embodiment, amechanical arm or similar means may be used to push the unit doseblister flush with the unit dose blister mount. Alternatively, gravitymay be used. In particular, if, for example, the unit dose blister mountis transparent, enabling the identification code to be read through thebottom of the unit dose blister mount were the unit dose blister to beplaced blister-side up, then the unit dose blister mount could bemaintained in a slightly slanted position causing the unit dose blisterto fall flush with at least one side of the unit dose blister mount.

Regardless of how the edge of the unit dose blister is located, oncelocated the reader 244 will then begin scanning in directions parallelthe edges of the unit dose blister until it locates the identificationcode. In particular, the reader may begin scanning in a directionsubstantially parallel to a first edge of the unit dose blister andcontinue scanning in this direction until the identification code islocated or substantially the entire surface of the unit dose blister hasbeen scanned, where each scan may be spaced by some distance less thanthe width and/or height of the identification code. Where theidentification code has not be located, the reader may then scan theunit dose blister in a direction substantially perpendicular to thefirst edge until the identification code is located. As noted above,where, for example, the reader 244 comprises a barcode reader, scanningin a direction parallel to the edges of the unit dose blister mayinvolve scanning one or more optical signals across in the unit doseblister in a direction parallel to the edge. Alternatively, where, forexample, the reader 244 comprises a camera operating in conjunction witha separate or integrated processing device, scanning in a directionparallel to the edge may comprise decoding or interrogating the pixelsof an image captured of the unit dose blister by the camera on arow-by-row basis along the edge of the unit dose blister. Because thismethod (i.e., first locating the edge and then analyzing the unit doseblister in directions parallel to the edge) greatly reduces the numberof directions in which the reader 244 must scan, exemplary embodimentsof the present invention greatly reduce the time required to locate andscan the identification code where the orientation of the identificationcode is unknown.

In addition to the foregoing, another issue that often arises whenattempting to scan or read identification codes is the amount of lightthat is reflected off the item being scanned. In particular, where thereader 244 is placed directly above the unit dose blister, too muchlight may be reflected off the unit dose blister, preventing theidentification code from being accurately read. One solution to thisissue is to offset the reader 244 slightly to the left or right of thecenter of the item being scanned (e.g., the unit dose blister), suchthat the light comes down at an angle from the reader 244 and is,therefore, reflected away from the reader 244 upon reaching the unitdose blister. This solution, however, may cause additional problems,since the orientation of the identification code is not constant and,therefore, the identification codes may have different focal distances(i.e., different distances between where the light is emitted from thereader 244 and the point on the unit dose blister where theidentification code can be read). The result is that, even though thereader 244 may scan over the identification code, the identificationcode may not be in focus and, therefore, may not be able to be readaccurately. This additional problem may be solved by exemplaryembodiments of the present invention by automatically changing the focaldistance as the reader 244 repeatedly scans the unit dose blister untilit locates and identification code and is able to accurately read it.

In addition to reading the identification code displayed on the unitdose blister, it is also often desirable to be able to electronicallycapture information conveyed in various types of human-readable text orcodes that are similarly displayed on the unit dose blister, such as anexpiration date or lot number associated with the medication. Like theidentification code, however, it is also often not known where or inwhat orientation the human-readable text is displayed on the unit doseblister. Depending upon the medication type, manufacturer and/orpackager, the human-readable text may, for example, be displayedparallel or perpendicular, or in some other orientation relative to theidentification code. The human-readable text (e.g., expiration dateand/or lot number) may be in any relative position to the identificationcode, such as above, below, to the left of or right of theidentification code. A further obstacle is that the human-readable textmay be provided in any number of different formats. For example, anexpiration date may be written in any of the following differentformats: “EXP 09/01/06,” “EXP Sept. 1, 2006,” EXP09.01.06.” “Exp 09/06,”or “Exp Sept. 2006,” just to name a few. FIG. 1, which illustratesseveral examples of unit dose blisters, also illustrates severalexamples of where and in what format the expiration date 42 may bedisplayed on the unit dose blister.

In order to electronically capture the information conveyed by thehuman-readable text displayed on a unit dose blister with a level ofaccuracy that would be required in order to make electronic capture ofsuch information worthwhile, the storage, retrieval and delivery system100 first needs to determine where the human-readable text is displayedand, in many instances, in what format. According to one exemplaryembodiment, this may be done through the use of predefined locationand/or format instructions, such as may be stored in a look-up table,that map identification information associated with one or more unitdose blisters (or similar packages) to information describing thelocation at which the human-readable text is displayed on thecorresponding unit dose blister and, in one exemplary embodiment, inwhat format. As one of ordinary skill in the art will recognize, alook-up table may be used, wherein the table is not limited to aparticular tabular arrangement with rows and columns, but may be anyarrangement of memory in which location and/or format informationassociated with different types of unit dose blisters may be stored.

In particular, according to one exemplary embodiment, after theidentification code displayed on the unit dose blister is located andanalyzed using means, such as a reader, for example in the mannerdescribed above, identification information associated with the unitdose blister may be used to look up where various types ofhuman-readable text is displayed on the unit dose blister and, in manyinstances, in what format. In one exemplary embodiment, this may be doneby means, such as a processor or controller operating under softwarecontrol, wherein the processor may be configured to execute computerprogram instructions for accessing memory storing location and/or formatinformation associated with a particular unit dose blister using thecorresponding identification information.

In one exemplary embodiment, different manufacturers may displayhuman-readable text (e.g., the expiration date) in the same location andin the same format on all unit dose blisters produced by thatmanufacturer. In this instance, the identification information used toaccess the look-up table may be the manufacturer name alone (i.e., thelook-up table may include entries for various manufacturers). The samemay apply to unit dose blister packagers. Alternatively, where amanufacturer and/or packager displays human-readable text at differentlocations and/or in different formats depending upon the medicationtype, the medication type (e.g., in the form of the NDC number) may alsobe used to access the look-up table (i.e., the look-up table may includea separate entry for each medication type and manufacturer).

In one exemplary embodiment, the information stored in the look-up tablethat describes the location at which the human-readable text isdisplayed on the corresponding unit dose blister may include adescription of the location relative to some reference point or item.For example, the look-up table may indicate that an expiration dateassociated with a particular medication type is displayed on the unitdose blister below and parallel to the identification code, with “below”defined relative to an identification code having a predefinedorientation. As another example, the information in the look-up tablemay indicate that a certain manufacturer displays the lot number of allmedications manufactured by that manufacturer to the left of andperpendicular to the identification code, with “left” again beingdefined relative to an identification code having a predefinedorientation. In yet another alternative embodiment, the informationdescribing the location may indicate that the expiration date isparallel to and slightly offset from the upper edge of the unit doseblister, with “upper” again being defined relative to an identificationcode having a predefined orientation.

In one exemplary embodiment, the information stored in the look-up tablethat describes the format in which the human-readable text is displayedmay include, for example, an indication of what letter(s) or symbolsprecede the expiration date or lot number (e.g., “EXP,” “Exp.” “E,”“LOT,” etc.). The information may further indicate in what format theexpiration date or lot number itself is displayed (e.g. “May 4, 2007,”“May 2007,” “05/04/2007,” “05/07,” etc.). As one of ordinary skill inthe art will recognize, the format information accessed may be used wheninterpreting the human-readable text in order to more accuratelydetermine what information is being conveyed by the text.

Where, upon accessing the look-up table, no information is found that isassociated with a particular unit dose blister, the storage, retrievaland delivery system 100 of one exemplary embodiment, may be capable ofbeing taught where to look for the human-readable text on thatparticular unit dose blister. In particular, a party operating thestorage, retrieval and delivery system 100 (e.g., a pharmacist ortechnician) may manually locate the desired human-readable text on theunit dose blister and input information describing the location into thelook-up table. In one exemplary embodiment, when the storage, retrievaland delivery system 100 is first installed, the look-up table mayinclude entries for only the most popular medication types and/ormanufacturers. As the system 100 is used in its particular setting,entries may thereafter be created for other medication types and/ormanufacturers that are also used in that setting.

Once the location and, in many instances, the format of thehuman-readable text is determined, according to one exemplaryembodiment, the human-readable text may then be electronically capturedand translated into machine-readable text using, for example, opticalcharacter recognition (OCR). In particular, the system 100 may includemeans, such as an image capture device (e.g., the Microscan Quadrus®MINI) configured to capture an image of the human-readable text at thelocation at which the human-readable text was determined to bedisplayed. The system 100 may further include means, such as a processorconfigured to execute software designed to perform OCR (e.g., OmniplanarInc.'s SwiftOCR) in order to translate the captured image intoinformation that the system 100 can understand and manipulate (e.g.,ASCII codes). In one exemplary embodiment, the processor may be externalto the image capture device. Alternatively, the image capture device mayhave an integrated processor configured to execute the OCR software withrespect to the captured image and output, for example, the lot numberand expiration date. In one exemplary embodiment, as noted above, thisprocess is aided by the determined format of the human-readable text.

According to exemplary embodiments of the present invention, theinformation obtained from the human-readable text (e.g., the expirationdate or lot number associated with a particular unit dose blister storedin the storage, retrieval and delivery system 100) may be stored inmemory in associated the corresponding unit dose blister. For example,according to one exemplary embodiment, the storage, retrieval anddelivery system 100 may include memory, discussed below, that stores theidentification information associated with each unit dose blister storedwithin the storage system 102, as well as information, such as theexpiration date and lot number, associated with respective unit doseblisters. This information may thereafter be used, for example, indetermining when certain unit dose blisters need to be disposed of.

According to exemplary embodiments of the present invention, any of theforegoing procedures (i.e., determining the location and/or format ofhuman-readable text, scanning a unit dose blister at the determinedlocation to capture an image of the human-readable text, or translatingthe human-readable text using OCR) may be implemented by a processor,such as the controller discussed below, operating under the control ofsoftware, which controls the reader, the scanner, and OCR. Accordingly,using the above-described procedure, human-readable text that isdisplayed on a unit dose blister in an initially unknown location and/orformat (i.e., unknown at the time at which the unit dose blister is tobe scanned, regardless of whether the look-up table stores locationand/or format information associated with that unit dose blister) can beconsistently and reliably captured.

The storage, retrieval and delivery system 100 of exemplary embodimentsmay further comprise a controller, or similar processing device, capableof directing the picking system 201 to retrieve and deliver thenecessary unit dose blisters in order to fill a patient's prescriptionorder. FIG. 9 is a block diagram of a controller, or similar processingdevice, capable of operating in accordance with an exemplary embodimentof the present invention. As shown, the controller may include variousmeans for performing one or more functions in accordance with exemplaryembodiments of the present invention, including those more particularlyshown and described herein. It should be understood, however, that thecontroller, or similar processing device, may include alternative meansfor performing one or more like functions, without departing from thespirit and scope of the present invention. As shown, the controller cangenerally include means, such as a processor 910 connected to a memory920, for performing or controlling the various functions of thecontroller. The memory can comprise volatile and/or non-volatile memory,and typically stores content, data or the like. For example, the memorytypically stores content transmitted from, and/or received by, thecontroller. Also for example, the memory typically stores softwareapplications, instructions or the like for the processor to performsteps associated with operation of the controller in accordance withembodiments of the present invention.

In one exemplary embodiment, the memory 920 stores a location associatedwith respective unit dose packages (e.g., unit dose blisters) storedwithin the storage system 102 of the retrieval and dispensing system100. For example, the memory 920 may store the X, Y and Z coordinate foreach unit dose blister currently stored in the system 100. In addition,the memory 920 may store one or more prescription orders, wherein eachorder includes an identification of a patient (e.g., a uniqueidentification number) and a corresponding description of one or moremedications needed by that patient for a given period of time. Thememory 920 may further store a software application capable, uponexecution by the processor 910, of determining one or more unit dosemedications corresponding with a particular patient, determining thelocation of each medication, and directing the picking system 201 toretrieve and verify each of the needed medications.

In one exemplary embodiment, the memory may further store computerprogram code for optimizing the placement of unit dose packages in thestorage system and of continuously updating and re-optimizing thatplacement. To illustrate, in one exemplary embodiment, statistical datamay be gathered and analyzed in order to determine which medications(e.g., type, brand, dosage, etc.) are used most frequently at a giventime. Unit dose packages containing these medications may, in turn, beplaced in close proximity to one another, thus reducing the amount ofmovement required by the picking system within any given period of time.The next most frequently used medications may further be placed, forexample, along the outside perimeter of the region where the mostfrequently used medications have been placed, and so on and so forth.Because certain medications are more popular at certain times (e.g., fluseason), in one exemplary embodiment, the statistical data may beperiodically updated in order to enable the placement of the unit dosepackages to be continuously re-optimized.

In addition to the memory 920, the processor 910 can also be connectedto at least one interface or other means for displaying, transmittingand/or receiving data, content or the like. In this regard, theinterface(s) can include at least one communication interface 930 orother means for transmitting and/or receiving data, content or the like,as well as at least one user interface that can include a display 940and/or a user input interface 950. The user input interface, in turn,can comprise any of a number of devices allowing the controller toreceive data from a user, such as a keypad, a touch display, a joystickor other input device.

Storage Apparatus:

Reference is now made to FIGS. 10-12, which illustrate one example of aunit dose package mount 140 and, in particular, a unit dose blistermount, which may be used in order to position a unit dose package (e.g.,unit dose blister), in its natural/raw state (i.e., not over-wrapped orrepackaged), in a repeatable, predetermined orientation (i.e., in apredetermined plane) so that it can be selectively retrieved anddelivered in accordance with exemplary embodiments of the presentinvention. In particular, the unit dose blister mount 140 of exemplaryembodiments is configured to accept a plurality of different types ofunit dose blisters of various shapes and sizes. As one of ordinary skillin the art will recognize, the unit dose blister mount 140 illustratedand described herein is just one example of a storage apparatus capableof accepting unit dose packages of various shapes and sizes and shouldnot be taken as limiting the scope of the present invention.

As shown in FIGS. 10A, 10B and 10C, the unit dose blister mount 140,also referred to herein as a “storage apparatus,” of one exemplaryembodiment may include a carrier 145 defining one or more cavities 143therein, wherein each cavity is configured to receive the unit dosemedication (i.e., the one or more oral solids of the same or differentstrength, form or type) of a unit dose blister while the support panelof the unit dose blister lies and is maintained in a predetermined planerelative to the carrier (as shown in FIG. 12). In particular, in oneexemplary embodiment, the carrier 145 includes a surface, through whichthe one or more cavities 143 open. In this embodiment, each cavity 143may receive the unit dose medication in such a way that the supportpanel of the unit dose is supported by the surface of the carrier 145 ina plane substantially parallel to the surface of the carrier. In thisregard, the unit dose medication is generally disposed within the cavity143 while the corners or other peripheral portions of the support panelcontact and are supported by the carrier 145. In another exemplaryembodiment, where the depth of the medication cavity of the unit doseblister is greater than the depth of the cavity 143 defined by thecarrier 145, the unit dose medication is in contact with the carrier 145(i.e., at the floor of the cavity 143), while the support panel issuspended just above the surface of the carrier, but remains in a planesubstantially parallel to that surface.

The size, shape and depth of the cavities 143 of one exemplaryembodiment were determined to accommodate a large sampling of unit doseblisters of various shapes and sizes. In particular, a compilation ofthe various sizes and shapes of a large number of unit dose blisters wasanalyzed. From the measurements of these unit dose blisters it wasdetermined, among other things, how large the cavity 143 would need tobe in order to receive at least a majority of the unit dose medicationspackaged in the unit dose blisters, and, on the other end of thespectrum, how small the cavity 143 would need to be in order to preventthe majority of unit dose blisters from falling entirely into thecavity. In one advantageous embodiment shown in FIGS. 10A and 10B, thecarrier 145 may be configured to hold two unit dose blisters, whereineach cavity 143 has an elliptical shape with major and minor dimensionsof 1.25 inches and 0.625 inches, respectively. FIG. 10A provides a topor overhead perspective of the unit dose blister mount of exemplaryembodiments, while FIG. 10B provides the bottom perspective. In analternative embodiment shown in FIG. 10C, the carrier may be configuredto hold a single unit dose blister using a circular cavity having adiameter of 1.1 inches.

While carriers and cavities having two different shapes and sizes havebeen shown, the carrier 145 can define other cavities 143 having stilldifferent shapes and sizes and may itself comprise different shapes andsizes in accordance with other embodiments of the present invention.Exemplary carriers may further not define a cavity at all, as in theexample discussed above wherein the carrier comprises a spring having aplurality of coils, each configured to hold a unit dose package.

According to exemplary embodiments of the present invention, the unitdose blister is able to naturally sit in the storage apparatus 140, orunit dose blister mount, with its medication cavity down (e.g., wherethe storage apparatus 140 comprises the carrier 145 illustrated in anyof FIGS. 10-12, the cavity 143 of the carrier 145 may receive the unitdose medication). This orientation will position the unit dose blisterto lie substantially flat in a plane defined by the storage apparatus140 (e.g., the carrier 145), such as the horizontal plane, having itsidentification code and other printed drug information (i.e., theinformation displayed on the second side of the support panel of theunit dose blister) viewable from above. Because of this orientation,using the scanning technique discussed above, the picking system 201 ofa storage, retrieval and delivery system 100 can reliably read thebarcode, or similar identification code, on the medication withouthaving to reorient the medication in any way.

In addition, this position and containment offers a consistent, reliablemeans for the picking system 201 to vacuum pick (e.g., using the blisterremoval mechanism 242) the unit dose blister during the retrieval anddelivery process. Alternatively, removing the unit dose blister may bedone by flipping the storage apparatus 140, or unit dose blister mount,over, allowing the unit dose blister to fall into a predeterminedlocation (e.g., a container from which the unit dose blister may bedispelled out the front or back of the system into, for example, apatient-specific medication bin or container or a floor stockcontainer). In this exemplary embodiment, the picking system 201 maynever have to even contact the unit dose blister directly during theretrieval and delivery process. Where, for example, the unit doseblister is removed from the storage apparatus 140 using the one or morevacuum generators and vacuum cups, the storage apparatus 140 may furthercomprise one or more holes 144 (shown in FIG. 10A) strategically locatedbelow where the vacuum cups contact the storage apparatus 140, whereinthe holes are designed to prevent the vacuum cups from sealing to thestorage apparatus 140 and preventing the unit dose blister from beingremoved.

In one exemplary embodiment, the unit dose blister mount 140, or storageapparatus, is designed such that a free floating unit dose blistercannot flip, rotate more than 45° in either direction from a centeredposition in which the medication is centered within the cavity, or movepast the centerline 147 of the cavity 143 (i.e., a line extendingthrough the center 148 of the cavity 143 in a direction perpendicular tothe unit dose blister mount 149), once the unit dose medication of theunit dose blister has been received by the cavity 143. Thus, while theposition of the identification code carried by the unit dose blisterwill vary somewhat, the range of possible positions of theidentification code is sufficiently limited and the identification coderemains in substantially the same plane (defined by the carrier 145)when in any of the possible positions such that the identification codecan consistently be read by the identification code reader.

As shown in FIG. 13, the storage apparatus 140 of one exemplaryembodiment, may act as a drawer for the unit dose blisters. In otherwords the storage apparatus 140 is capable of being pulled from itsnested position within the storage system 102 with one linear movement.

As noted above, the storage apparatus 140 may include a single cavity,or several cavities, each configured to receive a plurality of differenttypes of unit dose medications. An advantage to having only one cavityis that each unit dose blister in the system, whether being stored ortransported, is located in its own reusable container. Single-cavitystorage apparatuses also lend themselves well to storing, as shown inFIG. 14, which illustrates one method of storing single-cavity storageapparatuses of the shape illustrated in FIG. 10C. As shown, the smallsize of a single-cavity storage apparatus lends itself well to stackingin, for example, a tube; thus offering dense storage where likemedications may be grouped. Alternatively, the small single-cavitystorage apparatuses may be separated by dividers and stored in an arrayof pigeon holes (i.e., mail slots), in which the picking system 102 mayhave random access in order to remove any single storage apparatus 140at any given time. In order to increase the storage density, the pigeonhole may closely match the profile of the storage apparatus 140. Thepicking system 201 may, in this exemplary embodiment, be required toremove the storage apparatus 140 from the pigeon hole prior todispending the unit dose blister, rather than inserting, for example,the blister removal mechanism 242 into the pigeon hole to retrieve themedication.

By contrast, an advantage to a multiple-cavity storage apparatus 140 maybe that the picking system 102 not only has random access to the singledose medications via the pigeon hole configuration described above, butthe picking system 102 would have the additional ability to pick morethan one medication at a time. As the number of cavities in a storageapparatus increases, other additional advantages may come into play,such as the fact that the storage apparatuses can be batched into largegroups increasing the storage, retrieval and delivery system's 100throughput.

The storage apparatus 140 of one exemplary embodiment may furtherinclude an identification marker (not shown), such as a barcode or radiofrequency identification (RFID) label or tag that is configurable tocorrespond to the medication(s) housed therein. In addition, the storageapparatus 140 of another exemplary embodiment may include a retentionmechanism, such as a clamp, lid or other feature used to hold the unitdose blister in place. Respective storage apparatuses 140 of anotherexemplary embodiment may further include one or more clipping mechanisms149 that are capable of retaining the storage apparatus 140 within thestorage system 102 while the storage system 102 is in motion (e.g.,while the carousel is turning).

Method of Retrieving and Delivering Unit Dose Medications:

Reference is now made to FIG. 15, which illustrates the steps which maybe taken in order to store, retrieve and deliver unit dose packages,such as unit dose blisters, in their natural, raw state in accordancewith exemplary embodiments of the present invention. As above, thefollowing method is described in terms of unit dose blisters, but shouldnot be taken as limiting the scope of exemplary embodiments of thepresent invention to use of unit dose blisters. In contrast, other typesof unit dose packages (i.e., packages used to store unit dosemedications) may similarly be used in accordance with exemplaryembodiments of the present invention without departing from the spiritand scope of the present invention.

As shown in FIG. 15, the process of one exemplary embodiment beginswhere, in Step 1501, a plurality of unit dose blisters of differentshapes and sizes are disposed in respective unit dose blister mounts,for example, of the form discussed above. For example, the unit doseblister may be deposited in a carrier disposed within or otherwiseassociated with a respective storage location with its unit dosemedication, or medication cavity, down (i.e., within the cavity of thecarrier), such that the support panel of the unit dose blister will liesubstantially flat in the horizontal plane enabling the barcode, orsimilar identification code, and/or other identification information,displayed on the unit dose blister to be viewable from above. Asdiscussed above, other means for disposing unit dose blisters in arepeatable, predetermined orientation, such that the identification codeof the unit dose blister can be readily scanned and the unit doseblister itself can be easily handled by a robotic picking system, canlikewise be used without departing from the spirit and scope of thepresent invention. This would include, for example, disposing the unitdose blisters in respective coils of one or more springs that arealigned to form rows and columns in a manner similar to a vendingmachine.

In Step 1502, the identification code (e.g., barcode, RFID tag, text, orthe like) associated with a patient-specific medication bin or containeris read in order to determine the identity of a patient for which aprescription is to be filled. The identification code may, for example,store a unique patient identification code. The patient-specificmedication container may, for example, be moving on a conveyor beltassociated with the storage, retrieval and delivery system discussedabove, such that when the container reaches a specified point, theidentification code is automatically read to retrieve the identificationinformation. In another exemplary embodiment, not shown, the container(referred to herein as a “floor stock container”) may be associated witha particular cabinet or medication room within a hospital, or similarinstitution, that needs to be restocked. In other words, scanning theidentification code of the floor stock container may identify the one ormore unit dose medications necessary to restock the correspondingcabinet or medication room, rather than providing information relatingto a specific patient.

Returning to FIG. 15, using the identity of the patient, in Step 1503, alist of one or more unit dose medications necessary to fill theidentified patient's prescription is retrieved. As discussed above, inone exemplary embodiment a controller associated with the storage,retrieval and delivery system may store information identifying one ormore patients, as well as a corresponding description of the one or moremedications required by that patient within a given period of time. Step1503 may, therefore, involve accessing this information in order todetermine which medications correspond with the identified patient.

In exemplary embodiments, Steps 1502 and 1503 may be sidestepped where,for example, a pharmacist or pharmacy technician manually inputs eitherthe unique patient identification code associated with a particularpatient, or the actual list of medications to be retrieved. This may bedone, for example, where the pharmacist or pharmacy technician wants asingle prescription filled immediately (i.e., not as part of the routinedaily prescription fills—e.g., in the case of an emergency or as a firstdose).

A location of the unit dose blister corresponding with the first unitdose medication is then determined, in Step 1504. In particular, thismay involve determining a location in, for example, the storage systemdescribed above, associated with a unit dose blister mount holding theunit dose blister (e.g., in the form of X, Y and Z coordinates). Wherethe unit dose blister mount includes two or more cavities for receivingunit dose medications, this step may further include determining inwhich cavity the unit dose medication is held.

Once the location of the unit dose medication has been determined, thepicking system may be moved to that location (Step 1505), and the unitdose blister mount may at least partially be removed from the storagesystem (Step 1506). In particular, as discussed above, in one exemplaryembodiment, the picking system of a retrieval and delivery system mayinclude a mount removal mechanism configured to extend to a locationproximate the unit dose blister mount, to grip the handle of the unitdose blister mount, and to retract once the unit dose blister mount hasbeen gripped. In removing the unit dose blister mount, the mount removalmechanism may deliver the unit dose blister mount to a predefinedlocation so that the identification code (e.g., barcode, RFID tag, textor the like) displayed on the unit dose blister held by the unit doseblister mount can be read (e.g., to present the unit dose blister to theZ-Axis component). In one exemplary embodiment, this may involvecompletely disengaging the unit dose blister mount from the storagesystem and moving it to, for example, an inspection station.Alternatively, in another exemplary embodiment, the unit dose blistermount may be partially retained by the storage system while thefollowing steps are performed.

In Step 1507, the identification code of the unit dose blister is readby the picking system, for example, in the manner discussed above, inorder to determine the identity of the unit dose medication packaged inthe unit dose blister. It is then verified, in Step 1508, that thecorrect medication has been located. If the correct medication has beenlocated, the unit dose blister is removed from the unit dose blistermount, for example using the blister removal mechanism discussed above,(Step 1509) and delivered to the patient-specific medication container(Step 1510). In particular, the unit dose blister may first be deliveredto a container associated with the overall storage, retrieval anddelivery system, and from which it can be dispelled out the back of thesystem into the patient-specific medication container, which is beingcarried by a conveyor belt. Alternatively, as noted above, the containerinto which the unit dose blister is ultimately dispelled may comprise afloor stock container associated not with a specific patient, butinstead with a particular cabinet or medication room needing restocking.As yet another alternative, in the exemplary embodiment discussed abovewherein a pharmacist or pharmacy technician has manually requested thatthe medication be retrieved (i.e., sidestepping Steps 1502 and 1503 inthe event of an emergency or in order to fill a first dose), the unitdose blister may be individually dispelled from the first container, forexample, out a chute on the front of the storage, retrieval and deliverysystem.

Returning to FIG. 15, it is then determined, in Step 1511, whether thepatient's entire prescription has been filled. If the prescription hasnot been completely filled, the process repeats Steps 1504-1510. If, onthe other hand, all of the unit dose medications needed for theparticular patient have been retrieved, the process ends, at Step 1512.The patient-specific medication container is then ready to be moved, forexample, to a checking station where it is again verified that thecorrect medications have been retrieved and, finally, to be delivered toa nurse for delivery to the patient.

The present invention also lends itself to various alternativeembodiments. For example, the picking system may be configured such thatthe unit dose blister mount and the corresponding unit dose blisterremains in the storage location while the identification code is readand verified with the unit dose blister being removed from the unit doseblister mount and delivered only once the medication has been verified.Alternatively, the unit dose blister could be stored loosely, i.e.,independent of a unit dose blister mount, with the unit dose blisterbeing removed from the storage location by the picking system andtransported to a predefined location at which the unit dose blister isdisposed within the unit dose blister mount. In this regard, the unitdose blister mount may have various configurations such as the carrierdescribed above, or a clip or other mechanism for holding unit doseblisters in a repeatable fashion such that the identification code isdisposed in a predetermined plane.

CONCLUSION

As described above, the method, system and apparatus of exemplaryembodiments enable a pharmacy, a hospital or the like to store, retrieveand delivery unit dose blisters that have not be over-wrapped orrepackaged. Unit dose blisters of various shapes and sizes are handledin their natural, raw state, thus taking advantage of the identificationinformation currently displayed on each individual unit dose blister andcutting down on material costs and technician and pharmacist timeassociated with over-wrapping or repackaging, as well as with validatingthe process.

Many modifications and other embodiments of the inventions set forthherein will come to mind to one skilled in the art to which theseinventions pertain having the benefit of the teachings presented in theforegoing descriptions and the associated drawings. Therefore, it is tobe understood that the inventions are not to be limited to the specificembodiments disclosed and that modifications and other embodiments areintended to be included within the scope of the appended claims.Although specific terms are employed herein, they are used in a genericand descriptive sense only and not for purposes of limitation.

1. A method of capturing human-readable text displayed on a unit dosepackage, said method comprising: capturing identification informationassociated with a unit dose package; determining, based at least in parton the identification information, a location on the unit dose packageat which human-readable text is displayed; and electronically capturingthe human-readable text at the determined location, wherein determining,based at least in part on the identification information, a location onthe unit dose package at which human-readable text is displayedcomprises accessing a mapping of the identification informationassociated with one or more unit dose packages to information describingthe location on the corresponding unit dose package at which thehuman-readable text is displayed.
 2. The method of claim 1, whereincapturing identification information comprises reading an identificationcode displayed on the unit dose package.
 3. The method of claim 2,wherein reading the identification code comprises: locating an edge ofthe unit dose package.
 4. The method of claim 3, wherein reading theidentification code further comprises: capturing an image of the unitdose package; and decoding one or more pixels of the captured image on arow-by-row basis in a predefined direction relative to the edge, whereinthe predefined direction is selected from a group consisting ofsubstantially parallel to the edge and substantially perpendicular tothe edge.
 5. The method of claim 4 further comprising: continuing todecode one or more pixels of the captured image on a row-by-row basis inthe predefined direction relative to the edge until the identificationcode is located or substantially all of the pixels of the captured imagehave been decoded; and where substantially all of the pixels of thecaptured image have been decoded and the identification code has notbeen located, decoding one or more pixels on a row-by-row basis in adirection substantially perpendicular to the predefined directionrelative to the edge until the identification code is located.
 6. Themethod of claim 3, wherein reading the identification code furthercomprises: scanning one or more optical signals across the unit dosepackage in a predefined direction relative to the edge, wherein thepredefined direction is selected from a group consisting ofsubstantially parallel to the edge and substantially perpendicular tothe edge.
 7. The method of claim 6 further comprising: continuing toscan the optical signals across the unit dose package in the predefineddirection relative to the edge until the identification code is locatedor substantially the entire surface of the unit dose package has beenscanned; and where substantially the entire surface of the unit dosepackage has been scanned and the identification code has not beenlocated, scanning one or more optical signals across the unit dosepackage in a direction substantially perpendicular to the predefineddirection relative to the edge until the identification code is located.8. The method of claim 3, wherein the unit dose package is located in acarrier, and wherein locating an edge of the unit dose package compriseslocating the edge based at least in part on a contrast in brightnessbetween the unit dose package and the carrier.
 9. The method of claim 3,wherein the unit dose package is located in a carrier, such that theunit dose package is substantially flush with at least one side ofcarrier, and wherein locating an edge of the unit dose package compriseslocating the edge based at least in part on the at least one side of thecarrier.
 10. The method of claim 1, wherein the identificationinformation is selected from a group consisting of a medication type anda manufacturer associated with the unit dose package.
 11. The method ofclaim 1, wherein the information describing the location on thecorresponding unit dose package at which the human-readable text isdisplayed comprises information describing the location relative to atleast one edge of the unit dose package.
 12. The method of claim 1,wherein the information describing the location on the correspondingunit dose package at which the human-readable text is displayedcomprises information describing the location relative to anidentification code displayed on the unit dose package.
 13. The methodof claim 1 further comprising: determining, based at least in part onthe identification information, a format in which the human-readabletext is displayed on the unit dose package, wherein the mapping alsoassociates the identification information associated with one or moreunit dose packages with information describing the format in which thehuman-readable text is displayed on the corresponding unit dose package.14. The method of claim 1, wherein the human-readable text comprises anexpiration date or a lot number associated with the unit dose package.15. The method of claim 1, wherein electronically capturing thehuman-readable text comprises: translating the human-readable text intomachine-readable text using optical character recognition.
 16. A systemfor capturing human-readable text displayed on a unit dose package, saidsystem comprising: an image capture device configured to capture animage of a unit dose package; a processor in communication with theimage capture device; and a memory in communication with the processor,said memory storing an application executable by the processor, whereinthe application is configured, upon execution, to determine, based atleast in part on identification information associated with the unitdose package, a location on the unit dose package at whichhuman-readable text is displayed and to decode the human-readable textat the determined location, wherein the memory further stores a mappingof the identification information associated with one or more unit dosepackages to information describing the location on the correspondingunit dose package at which the human-readable text is displayed,wherein, in order to determine, based at least in part on theidentification information, a location on the unit dose package at whichthe human-readable text is displayed, the application is configured,upon execution, to access the mapping.
 17. The system of claim 16,wherein the application is further configured, upon execution, tocapture the identification information associated with the unit dosepackage from an identification code displayed on the unit dose package.18. The system of claim 17, wherein in order capture the identificationinformation, the application is further configured, upon execution, tolocate an edge of the unit dose package.
 19. The system of claim 18,wherein in order to capture the identification information, theapplication is further configured, upon execution, to: decode one ormore pixels of the captured image on a row-by-row basis in a predefineddirection relative to the edge, wherein the predefined direction isselected from a group consisting of substantially parallel to the edgeand substantially perpendicular to the edge.
 20. The system of claim 19,wherein in order to capture the identification information, theapplication is further configured, upon execution, to: continue todecode one or more pixels of the captured image on a row-by-row basis inthe predefined direction relative to the edge until the identificationcode is located or substantially all of the pixels of the captured imagehave been decoded; and where substantially all of the pixels of thecaptured image have been decoded and the identification code has notbeen located, decode one or more pixels on a row-by-row basis in adirection substantially perpendicular to the predefined directionrelative to the edge until the identification code is located.
 21. Thesystem of claim 18 further comprising: a reader in communication withthe processor, wherein, in order to capture the identificationinformation, the application is further configured, upon execution, todirect the reader to scan one or more optical signals across the unitdose package in a predefined direction relative to the edge, wherein thepredefined direction is selected from a group consisting ofsubstantially parallel to the edge and substantially perpendicular tothe edge.
 22. The system of claim 21, wherein in order to capture theidentification information, the application is further configured, uponexecution, to direct the reader to: continue to scan the optical signalsacross the unit dose package in the predefined direction relative to theedge until the identification code is located or substantially theentire surface of the unit dose package has been scanned; and scan oneor more optical signals across the unit dose package in a directionsubstantially perpendicular to the predefined direction relative to theedge until the identification code is located, where substantially theentire surface of the unit dose package has been scanned in thepredefined direction relative to the edge and the identification codewas not located.
 23. The system of claim 18 further comprising: acarrier configured to hold the unit dose package, wherein, in order tolocate an edge of the unit dose package, the application is configured,upon execution, to locate the edge based at least in part on a contrastin brightness between the unit dose package and the carrier.
 24. Thesystem of claim 16, wherein the information describing the location onthe corresponding unit dose package at which the human-readable text isdisplayed comprises information describing the location relative to atleast one edge of the unit dose package.
 25. The system of claim 16,wherein the information describing the location on the correspondingunit dose package at which the human-readable text is displayedcomprises information describing the location relative to anidentification code displayed on the unit dose package.
 26. The systemof claim 16, wherein the application is further configured, uponexecution, to determine, based at least in part on the identificationinformation, a format in which the human-readable text is displayed onthe unit dose package, wherein the mapping also associates theidentification information associated with one or more unit dosepackages with information describing the format in which thehuman-readable text is displayed on the corresponding unit dose package.27. The system of claim 16, wherein, in order to decode thehuman-readable text, the application is further configured, uponexecution, to translate the human-readable text into machine-readabletext using optical character recognition.
 28. An apparatus for capturinghuman-readable text displayed on a unit dose package, said apparatuscomprising: means for capturing identification information associatedwith a unit dose package; means for determining, based at least in parton the identification information, a location on the unit dose packageat which human-readable text is displayed; and means for electronicallycapturing the human-readable text at the determined location, whereinthe means for determining, based at least in part on the identificationinformation, a location on the unit dose package at which thehuman-readable text is displayed comprises means for accessing a mappingof the identification information associated with one or more unit dosepackages to information describing the location on the correspondingunit dose package at which the human-readable text is displayed.
 29. Theapparatus of claim 28, further comprising: means for determining, basedat least in part on the identification information, a format in whichthe human-readable text is displayed on the unit dose package, whereinthe mapping also associates the identification information associatedwith one or more unit dose packages with information describing theformat in which the human-readable text is displayed on thecorresponding unit dose package.
 30. The apparatus of claim 28, whereinthe human-readable text comprises an expiration date or a lot numberassociated with the unit dose package.
 31. The apparatus of claim 28,wherein the means for electronically capturing the human-readable textfurther comprises: means for translating the human-readable text intomachine-readable text using optical character recognition.
 32. Anon-transitory computer program product for capturing human-readabletext displayed on a unit dose package, wherein the computer programproduct comprises at least one computer-readable storage medium havingcomputer-readable program code portions stored therein, thecomputer-readable program code portions comprising: a first executableportion for directing the capture of identification informationassociated with a unit dose package; a second executable portion fordetermining, based at least in part on the identification information, alocation on the unit dose package at which human-readable text isdisplayed; and a third executable portion for directing the electroniccapture of the human-readable text at the determined location, whereindetermining, based at least in part on the identification information, alocation on the unit dose package at which human-readable text isdisplayed comprises accessing a mapping of the identificationinformation associated with one or more unit dose packages toinformation describing the location on the corresponding unit dosepackage at which the human-readable text is displayed.
 33. The computerprogram product of claim 32, wherein the computer-readable portionsfurther comprise: a fourth executable portion for determining, based atleast in part on the identification information, a format in which thehuman-readable text is displayed on the unit dose package, wherein themapping also associates the identification information associated withone or more unit dose packages with information describing the format inwhich the human-readable text is displayed on the corresponding unitdose package.
 34. The computer program product of claim 32, wherein thethird executable portion is configured to translate the human-readabletext into machine-readable text using optical character recognition.